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Fig. 6. Design of the self-propelled robotic pectoral fin with bilaminar fin rays.
(A) Carriage that holds the robotic fin mounted above the flow tank on air
bearings that allow horizontal translation in the X-direction with
little friction. The pectoral fin can be seen submerged in the flow tank below
the array of black actuating motors. (B) Base plate that holds the fin and
compliant base support, and guides the nylon tendons to the fin rays. (C)
Design of the base plate and the bilaminar fin rays that mimic the curvature
control of fin rays in fin ray-finned fishes
(Alben et al., 2007;
Lauder, 2006). Note the two
separate heads for each half of the fin ray, which receive separate nylon
tendons. (D–G) Motion of the robotic pectoral fin from the rest position
to show expansion, curling and cupping of the fin. Black lines have been drawn
on the two leading edges of the fin to more clearly show the motion in F and
G. Cupping, bending and expansion of the bluegill sunfish fin, as shown in
Figs 2 and
3, are well replicated by the
robotic model. Pectoral fin rest length=12.8 cm at the longest ray; fin width
at base and tip is 5.5 cm and 8.0 cm, respectively. The base plate is 5.5
cmx8.5 cm. The fin rays vary from 9.0 cm to 12.5 cm long and the rays
are 0.1 cm thick and 0.4 cm wide.
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